Immersion and Invariance Adaptive SOSM Control for Uncertain Nonlinear Systems

This paper addresses the issue of designing a novel immersion and invariance adaptive second-order sliding mode (IIASM) control for uncertain nonlinear systems. First of all, an immersion and invariance (I&I) adaptive method based on the non-certainty equivalence (Non-CE) is analyzed to deal with the system uncertainty. On this basis, the second-order sliding mode (SOSM) control method is introduced to make the system state converge to zero in a finite time. Then, a new IIASM control strategy is designed to achieve excellent tracking performance in the case of system uncertainties. Further, the finite-time stability of the system is proved by strict Lyapunov analysis. Finally, a typical unmanned agricultural vehicle path-tracking simulation example is used to verify the superiority of the proposed control strategy.